Path planning of UAV for oilfield inspections in a three-dimensional dynamic environment with moving obstacles based on an improved pigeon-inspired optimization algorithm

2020 ◽  
Vol 50 (9) ◽  
pp. 2800-2817 ◽  
Author(s):  
Fawei Ge ◽  
Kun Li ◽  
Ying Han ◽  
Wensu Xu ◽  
Yi’an Wang
Keyword(s):  
Path Planning ◽  
Optimization Algorithm ◽  
Three Dimensional ◽  
Dynamic Environment ◽  
Moving Obstacles

scholarly journals Three Dimensional Path Planning for UAVs in Dynamic Environment using Glow-worm Swarm Optimization

2018 ◽  
Vol 133 ◽  
pp. 230-239 ◽  
Author(s):  
Utkarsh Goel ◽  
Shubham Varshney ◽  
Anshul Jain ◽  
Saumil Maheshwari ◽  
Anupam Shukla
Keyword(s):  
Path Planning ◽  
Three Dimensional ◽  
Dynamic Environment ◽  
Swarm Optimization

Online cooperative path planning for multi-quadrotors in an unknown dynamic environment

2021 ◽  
pp. 095441002110166
Author(s):  
Zhenyue Jia ◽  
Ping Lin ◽  
Jiaolong Liu ◽  
Luyang Liang
Keyword(s):  
Path Planning ◽  
Partial Information ◽  
Three Dimensional ◽  
Dynamic Environment ◽  
Planning Problem ◽  
Planning Strategy ◽  
Coordination Strategy ◽  
Planning Strategies ◽  
Feasible Path ◽  
Path Planning Problem

The online cooperative path planning problem is discussed for multi-quadrotor maneuvering in an unknown dynamic environment. Based on the related basic concepts, typical three-dimensional obstacle models, such as spherical and cubic, and their collision checking criteria are presented in this article. An improved rapidly exploring random tree (RRT) algorithm with goal bias and greed property is proposed based on the heuristic search strategy to overcome the shortcomings of the classical RRT algorithm. Not only are the kinematic constraints of the quadrotor established but the time and space coordination strategy matching with the improved RRT algorithm is also presented in this article. Furthermore, a novel online collision avoidance strategy according to the partial information of the surrounding environment is proposed. On the basis of the above work, a distributed online path planning strategy is proposed to obtain the feasible path for each quadrotor. Numerical simulation results show that the improved RRT algorithm has better search efficiency than the classical RRT algorithm. And the satisfactory path planning and path tracking results prove that the above model and related planning strategies are reasonable and effective.

scholarly journals Hybrid metaheuristic approach for robot path planning in dynamic environment

2021 ◽  
Vol 10 (4) ◽  
pp. 2152-2162
Author(s):  
Lina Basem Amar ◽  
Wesam M. Jasim
Keyword(s):  
Path Planning ◽  
Hybrid Algorithm ◽  
Optimization Problem ◽  
Dynamic Environment ◽  
Target Point ◽  
Complex Environments ◽  
Robot Path Planning ◽  
Moving Obstacles ◽  
Starting Point ◽  
Robot Path

Recently robots have gained great attention due to their ability to operate in dynamic and complex environments with moving obstacles. The path planning of a moving robot in a dynamic environment is to find the shortest and safe possible path from the starting point towards the desired target point. A dynamic environment is a robot's environment that consists of some static and moving obstacles. Therefore, this problem can be considered as an optimization problem and thus it is solved via optimization algorithms. In this paper, three approaches for determining the optimal pathway of a robot in a dynamic environment were proposed. These approaches are; the particle swarming optimization (PSO), ant colony optimization (ACO), and hybrid PSO and ACO. These used to carry out the path planning tasks effectively. A set of certain constraints must be met simultaneously to achieve the goals; the shortest path, the least time, and free from collisions. The results are calculated for the two algorithms separately and then that of the hybrid algorithm is calculated. The effectiveness and superiority of the hybrid algorithm were verified on both PSO and ACO algorithms.

A fuzzy multi-stage path-planning method for a robot in a dynamic environment with unknown moving obstacles

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1869-1885 ◽  
Author(s):  
Pooya Mobadersany ◽  
Sohrab Khanmohammadi ◽  
Sehraneh Ghaemi
Keyword(s):  
Path Planning ◽  
Blood Vessels ◽  
Dynamic Environment ◽  
Planning Method ◽  
Planning Problem ◽  
Complex Environments ◽  
Time Intervals ◽  
Moving Obstacles ◽  
Multi Stage ◽  
Static Form

SUMMARYPath planning is one of the most important fields in robotics. Only a limited number of articles have proposed a practical way to solve the path-planning problem with moving obstacles. In this paper, a fuzzy path-planning method with two strategies is proposed to navigate a robot among unknown moving obstacles in complex environments. The static form of the environment is assumed to be known, but there is no prior knowledge about the dynamic obstacles. In this situation, an online and real-time approach is essential for avoiding collision. Also, the approach should be efficient in natural complex environments such as blood vessels. To examine the efficiency of the proposed algorithm, a drug delivery nanorobot moving in a complex environment (blood vessels) is supposed. The Monte Carlo simulation with random numbers is used to demonstrate the efficiency of the proposed approach, where the dynamic obstacles are assumed to appear in exponentially distributed random time intervals.

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